技术领域Technical Field
本发明涉及摄像头技术领域，尤其涉及一种摄像头的校准方法及校准装置。The present invention relates to the technical field of cameras, and in particular to a camera calibration method and a camera calibration device.
背景技术Background Art
随着科技的发展，摄像头基于内部的机械装配进行组装，并调整其精度，在摄像头使用较久时，摄像头的精度会因为内部装配而逐步降低，在现有技术中，当摄像头需要校准时，操作人员需要拆卸摄像头，并重新组装摄像头，导致摄像头的校准工序较为复杂。With the development of technology, cameras are assembled based on internal mechanical assembly and their accuracy is adjusted. When the camera is used for a long time, the accuracy of the camera will gradually decrease due to the internal assembly. In the prior art, when the camera needs to be calibrated, the operator needs to disassemble the camera and reassemble the camera, which makes the camera calibration process more complicated.
发明内容Summary of the invention
本发明的目的在于克服现有技术的不足，本发明提供了一种摄像头的校准方法及校准装置，以所述测试网格图像的中心区域的角点为中心角点，并且以所述渐开线定位轨迹逐步向外延伸，以逐步确定其它角点，提高摄像头确定角点的概率，保证摄像头的角点的获取，从而保证摄像头基于中心角点、其它角点共同校准处于当前工作参数的摄像头，提高摄像头的校准的精度和便利性，简化摄像头的校准工序较为复杂。The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a camera calibration method and a calibration device, taking the corner point of the central area of the test grid image as the central corner point, and gradually extending outward with the involute positioning trajectory to gradually determine other corner points, thereby improving the probability of the camera determining the corner point and ensuring the acquisition of the camera's corner points, thereby ensuring that the camera calibrates the camera at the current working parameters based on the central corner point and other corner points, improving the accuracy and convenience of the camera calibration, and simplifying the camera calibration process.
为了解决上述技术问题，本发明实施例提供了一种摄像头的校准方法，包括：获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；基于所述渐开线定位轨迹确定其它角点；根据所述其它角点更新所述摄像头的定位点，并进行所述摄像头的校准。In order to solve the above technical problems, an embodiment of the present invention provides a camera calibration method, including: obtaining current working parameters of the camera, and obtaining a test grid image based on the current working parameters; traversing the test grid image, and preliminarily locating the central area of the test grid image; taking the corner point of the central area of the test grid image as the central corner point, and extending outward in a spiral direction based on the central corner point to form an involute positioning trajectory; determining other corner points based on the involute positioning trajectory; updating the positioning point of the camera according to the other corner points, and calibrating the camera.
另外，本发明实施例还提供了一种摄像头的校准装置，所述摄像头的校准装置包括：获取模块：用于获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；遍历模块：用于遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；形成模块：用于以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；确定模块：用于基于所述渐开线定位轨迹确定其它角点；更新模块：用于根据所述其它角点更新所述摄像头的定位点，并进行所述摄像头的校准。In addition, an embodiment of the present invention also provides a camera calibration device, which includes: an acquisition module: used to acquire the current working parameters of the camera, and acquire a test grid image based on the current working parameters; a traversal module: used to traverse the test grid image, and preliminarily locate the central area of the test grid image; a formation module: used to take the corner point of the central area of the test grid image as the central corner point, and extend outward in a spiral direction based on the central corner point, and form an involute positioning trajectory; a determination module: used to determine other corner points based on the involute positioning trajectory; an update module: used to update the positioning point of the camera according to the other corner points, and calibrate the camera.
在本发明实施例中，通过本发明实施例中的方法，获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；基于所述渐开线定位轨迹确定其它角点；根据所述其它角点更新所述摄像头的定位点，并进行所述摄像头的校准，其中，以所述测试网格图像的中心区域的角点为中心角点，并且以所述渐开线定位轨迹逐步向外延伸，以逐步确定其它角点，提高摄像头确定角点的概率，保证摄像头的角点的获取，从而保证摄像头基于中心角点、其它角点共同校准处于当前工作参数的摄像头，提高摄像头的校准的精度和便利性，简化摄像头的校准工序较为复杂。In an embodiment of the present invention, through the method in the embodiment of the present invention, the current working parameters of the camera are obtained, and a test grid image is obtained based on the current working parameters; the test grid image is traversed, and the central area of the test grid image is preliminarily located; the corner point of the central area of the test grid image is used as the central corner point, and based on the central corner point, it is extended outward in a spiral direction to form an involute positioning trajectory; other corner points are determined based on the involute positioning trajectory; the positioning point of the camera is updated according to the other corner points, and the camera is calibrated, wherein the corner point of the central area of the test grid image is used as the central corner point, and the involute positioning trajectory is gradually extended outward to gradually determine other corner points, thereby improving the probability of the camera determining the corner point, ensuring the acquisition of the camera's corner points, thereby ensuring that the camera calibrates the camera at the current working parameters based on the central corner point and other corner points, improving the accuracy and convenience of the camera calibration, and simplifying the camera calibration process.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见的，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1是本发明实施例中的用于摄像头的测试夹具的立体图；FIG1 is a perspective view of a test fixture for a camera in an embodiment of the present invention;
图2是本发明实施例中的用于摄像头的测试夹具的内部示意图；FIG2 is an internal schematic diagram of a test fixture for a camera in an embodiment of the present invention;
图3是本发明另一实施例中的用于摄像头的测试夹具的立体图；FIG3 is a perspective view of a test fixture for a camera in another embodiment of the present invention;
图4是本发明实施例中的用于摄像头的测试夹具的黑白棋盘格的示意图；FIG4 is a schematic diagram of a black and white checkerboard of a test fixture for a camera in an embodiment of the present invention;
图5是本发明实施例中的摄像头的校准方法的流程示意图；FIG5 is a schematic flow chart of a camera calibration method according to an embodiment of the present invention;
图6是本发明实施例中的摄像头的校准方法的测试图；FIG6 is a test diagram of a camera calibration method in an embodiment of the present invention;
图7是本发明实施例中的摄像头的校准方法的另一测试图；FIG7 is another test diagram of the camera calibration method in an embodiment of the present invention;
图8是本发明实施例中的摄像头的校准装置的结构组成示意图；FIG8 is a schematic diagram of the structure of a camera calibration device in an embodiment of the present invention;
图9是根据一示例性实施例示出的一种电子装置的硬件图。Fig. 9 is a hardware diagram of an electronic device according to an exemplary embodiment.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
实施例一Embodiment 1
本实施例提供一种用于测试摄像头的测试夹具，参考图1-图4，摄像头安装于用于测试摄像头的测试夹具中，用于测试摄像头的测试夹具包括固定座10、测试组件20和安装板30，其中，固定座10用于安装于地面、墙体或者平板上，安装板30设置于固定座10的一侧，安装板30设有安装孔31，通过安装孔31供摄像头安装，从而实现摄像头相对于测试夹具的固定，测试组件20设置于固定座10和安装板30之间，测试组件20由多个测试板围合形成，每个测试板的内壁设有黑白棋盘格，如下图4所示，分别为各个测试板内壁黑白棋盘格的示意图。The present embodiment provides a test fixture for testing a camera. Referring to Figures 1 to 4, a camera is installed in the test fixture for testing the camera. The test fixture for testing the camera includes a fixing seat 10, a test assembly 20 and a mounting plate 30, wherein the fixing seat 10 is used to be installed on the ground, a wall or a flat plate, the mounting plate 30 is arranged on one side of the fixing seat 10, the mounting plate 30 is provided with a mounting hole 31, and the camera is installed through the mounting hole 31, so as to achieve the fixation of the camera relative to the test fixture, the test assembly 20 is arranged between the fixing seat 10 and the mounting plate 30, and the test assembly 20 is formed by a plurality of test plates, and the inner wall of each test plate is provided with a black and white checkerboard, as shown in Figure 4 below, which are schematic diagrams of the black and white checkerboards on the inner walls of each test plate.
可选的，测试板21具有5个，5个测试板21对应5个黑白棋盘格，5个黑白棋盘格之间的夹角、大小需要根据视野覆盖面、角点识别的精度、摄像头景深、内参标定算法的准确性稳定性进行调整。Optionally, there are five test boards 21, and the five test boards 21 correspond to five black and white checkerboards. The angles and sizes between the five black and white checkerboards need to be adjusted according to the field of view coverage, the accuracy of corner point recognition, the depth of field of the camera, and the accuracy and stability of the internal parameter calibration algorithm.
在另一实施例中，用于测试摄像头的测试夹具还具有拓展板40，拓展板40设置于测试组件20和安装板30之间，并用于调整安装板30的位置，以便于调整摄像头相对于测试组件20的位置，从而保证摄像头的校准精度。In another embodiment, the test fixture for testing the camera also has an expansion plate 40, which is arranged between the test component 20 and the mounting plate 30 and is used to adjust the position of the mounting plate 30 to facilitate adjustment of the position of the camera relative to the test component 20, thereby ensuring the calibration accuracy of the camera.
其中，相邻的两测试板21相互连接，相邻的两测试板21之间具有夹角。各测试板21的内壁均具有黑网格和白网格交错设置的测试区域，通过测试板21上的黑网格和白网格供摄像头进行角点遍历，以便于基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹。Two adjacent test boards 21 are connected to each other, and there is an angle between the two adjacent test boards 21. The inner wall of each test board 21 has a test area where black grids and white grids are staggered, and the camera traverses the corner points through the black grids and white grids on the test board 21, so as to extend outward in a spiral direction based on the central corner point and form an involute positioning track.
摄像头安装于安装孔31中，并朝向处于测试组件20的内壁，使得摄像头的拍摄范围处于测试板21上的测试区域，摄像头基于测试区域进行校准。其中，摄像头基于当前工作参数相对于测试夹具进行测试，当前工作参数包括摄像头的原始参数和测试夹具的参数，测试夹具的参数包括侧边的测试板21与底部的测试板21的夹角、相邻的测试板21之间的夹角以及测试板21内壁黑白棋盘格中各个格子的边长。The camera is installed in the installation hole 31 and faces the inner wall of the test assembly 20, so that the shooting range of the camera is in the test area on the test board 21, and the camera is calibrated based on the test area. The camera is tested relative to the test fixture based on the current working parameters, and the current working parameters include the original parameters of the camera and the parameters of the test fixture. The parameters of the test fixture include the angle between the side test board 21 and the bottom test board 21, the angle between adjacent test boards 21, and the side length of each grid in the black and white checkerboard grid on the inner wall of the test board 21.
实施例二Embodiment 2
请参阅图5至图7，一种摄像头的校准方法，所述方法包括：Please refer to FIG. 5 to FIG. 7 , a camera calibration method, the method comprising:
S11：获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；S11: Acquire current working parameters of the camera, and acquire a test grid image based on the current working parameters;
在本发明具体实施过程中，具体的步骤可以为：所述测试网格图像为多个相邻的黑白棋盘格，多个相邻的所述黑白棋盘格围合形成测试区域；所述测试区域覆盖所述摄像头的视角，并且多个所述黑白棋盘格分布于所述摄像头的视角的不同方向。In the specific implementation process of the present invention, the specific steps may be: the test grid image is a plurality of adjacent black and white checkerboards, and the plurality of adjacent black and white checkerboards enclose a test area; the test area covers the viewing angle of the camera, and the plurality of black and white checkerboards are distributed in different directions of the viewing angle of the camera.
其中，基于处于当前工作参数的摄像头进行调整，并且以所述测试网格图像作为校准图像，在所述测试网格图像中，多个相邻的所述黑白棋盘格围合形成测试区域；所述测试区域覆盖所述摄像头的视角，以便于对所述摄像头的各个角度进行逐一的校准，并且多个所述黑白棋盘格分布于所述摄像头的视角的不同方向。当前工作参数包括摄像头相对各图卡的位置和摄像头初始内参，也可以包括摄像头的原始参数和测试夹具的参数，测试夹具的参数包括侧边的测试板21与底部的测试板21的夹角、相邻的测试板21之间的夹角以及测试板21内壁黑白棋盘格中各个格子的边长。Wherein, the adjustment is made based on the camera in the current working parameters, and the test grid image is used as the calibration image. In the test grid image, a plurality of adjacent black and white checkerboards enclose a test area; the test area covers the viewing angle of the camera, so as to facilitate the calibration of each angle of the camera one by one, and a plurality of black and white checkerboards are distributed in different directions of the viewing angle of the camera. The current working parameters include the position of the camera relative to each chart and the initial internal parameters of the camera, and may also include the original parameters of the camera and the parameters of the test fixture. The parameters of the test fixture include the angle between the side test board 21 and the bottom test board 21, the angle between adjacent test boards 21, and the side length of each grid in the black and white checkerboard on the inner wall of the test board 21.
另外，相邻的两所述黑白棋盘格之间具有夹角，并朝向所述摄像头，相邻的两所述黑白棋盘格之间呈倾斜布置，并且涵盖所述摄像头的不同方向，处于倾斜布置的两两所述黑白棋盘格能够保证所述摄像头在一定的测试范围内进行视角测试，并且保证所述测试网格图像的测试准确度，提高所述摄像头的校准精度。In addition, there is an angle between two adjacent black and white chessboards and they are facing the camera. The two adjacent black and white chessboards are arranged obliquely and cover different directions of the camera. The obliquely arranged black and white chessboards can ensure that the camera can perform viewing angle testing within a certain test range and ensure the test accuracy of the test grid image, thereby improving the calibration accuracy of the camera.
其他的所述黑白棋盘格以正对所述摄像头的所述黑白棋盘格的边缘向不同方向延伸，并且相互连接，其中，其他的所述黑白棋盘格沿其延伸方向逐步扩大，此时，其他的所述黑白棋盘格的边缘以正对所述摄像头的所述黑白棋盘格的边缘为中心沿着对应的方向向外扩大，并且保证其他的所述黑白棋盘格相互连接，逐步地涵盖摄像头的校准方向和校准区域。The other black and white checkerboards extend in different directions with the edge of the black and white checkerboard facing the camera and are connected to each other, wherein the other black and white checkerboards gradually expand along their extension direction. At this time, the edges of the other black and white checkerboards expand outward along the corresponding direction with the edge of the black and white checkerboard facing the camera as the center, and ensure that the other black and white checkerboards are connected to each other, gradually covering the calibration direction and calibration area of the camera.
还有的是，所述测试网格图像为多个相邻的黑白棋盘格，多个相邻的所述黑白棋盘格围合形成测试区域，还包括：各所述黑白棋盘格中具有黑网格和白网格，黑网格和白网格共同填充所述黑白棋盘格的表面区域，并且依次交替布置；黑网格的外形和白网格的外形可以为矩形或异形，此处不做限定。其中，黑网格和白网格之间形成对应的边缘，该边缘作为遍历的轨迹之一。Alternatively, the test grid image is a plurality of adjacent black and white checkerboards, and the plurality of adjacent black and white checkerboards enclose a test area, and further includes: each of the black and white checkerboards has a black grid and a white grid, and the black grid and the white grid together fill the surface area of the black and white checkerboards, and are arranged alternately in sequence; the shape of the black grid and the shape of the white grid can be rectangular or irregular, which is not limited here. Wherein, a corresponding edge is formed between the black grid and the white grid, and the edge is used as one of the traversal tracks.
S12：遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；S12: traversing the test grid image and preliminarily locating the central area of the test grid image;
在本发明具体实施过程中，具体的步骤可以为：沿着所述摄像头的视角先遍历所述测试网格图像中与所述摄像头正对的所述黑白棋盘格；初步定位所述黑白棋盘格的中心区域，并以所述黑白棋盘格的中心区域作为参考始点；基于蒙板沿着所述参考始点向外遍历，并获取所述黑白棋盘格的各角点，以确定目标角点；基于蒙板沿着所述摄像头的视角再遍历其他所述黑白棋盘格，并以圆周方向依次遍历；针对各所述黑白棋盘格循环上述步骤，以确定其他所述黑白棋盘格的目标角点。In the specific implementation process of the present invention, the specific steps may be: first traverse the black and white chessboard in the test grid image that is directly opposite to the camera along the viewing angle of the camera; preliminarily locate the central area of the black and white chessboard, and use the central area of the black and white chessboard as a reference starting point; traverse outward along the reference starting point based on the mask, and obtain the corner points of the black and white chessboard to determine the target corner point; traverse the other black and white chessboards along the viewing angle of the camera based on the mask, and traverse them in a circular direction in sequence; repeat the above steps for each black and white chessboard to determine the target corner points of the other black and white chessboards.
其中，以所述黑白棋盘格的中心区域作为参考始点，沿着所述参考始点向外遍历，并获取所述黑白棋盘格的各角点，以确定目标角点，基于边缘的遍历在各角点确定目标角点，该目标角点作为单个黑白棋盘格的遍历终点，并且作为校准点进行摄像头的校准。蒙板的外形可以为矩形或异形，，在蒙板的外形为异形时，摄像头在遍历边时能够有效区隔目标角点与其它角点。The center area of the black and white chessboard is used as a reference starting point, and the reference starting point is traversed outward to obtain each corner point of the black and white chessboard to determine the target corner point. The target corner point is determined at each corner point based on the traversal of the edge. The target corner point is used as the traversal end point of a single black and white chessboard and as a calibration point for camera calibration. The shape of the mask can be rectangular or irregular. When the shape of the mask is irregular, the camera can effectively distinguish the target corner point from other corner points when traversing the edge.
另外，基于蒙板沿着所述摄像头的视角再遍历其他所述黑白棋盘格，并以圆周方向依次遍历；针对各所述黑白棋盘格依次沿着各所述黑白棋盘格的中心区域向外遍历，并获取所述黑白棋盘格的各角点，以确定目标角点；结合在不同方向的所述目标角点初步校准所述摄像头在不同方向的视角定位。通过先识别摄像头中心区域的角点，利用已识别角点坐标与理论坐标之差，修正待识别角点的理论坐标，再在理论坐标的异形蒙板进行角点识别，这样从中心区按”渐开线“的轨迹，逐步生成所有角点的理论坐标，在角点理论坐标附近找准角点。In addition, based on the mask, traverse the other black and white checkerboards along the camera's viewing angle, and traverse in a circular direction in sequence; for each black and white checkerboard, traverse outward along the center area of each black and white checkerboard in sequence, and obtain the corner points of the black and white checkerboard to determine the target corner point; combine the target corner points in different directions to preliminarily calibrate the viewing angle positioning of the camera in different directions. By first identifying the corner points in the center area of the camera, using the difference between the coordinates of the identified corner points and the theoretical coordinates, correct the theoretical coordinates of the corner points to be identified, and then identify the corner points on the special-shaped mask of the theoretical coordinates, so that the theoretical coordinates of all corner points are gradually generated from the center area according to the trajectory of the "involute", and the corner points are accurately found near the theoretical coordinates of the corner points.
S13：以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；S13: taking a corner point of a central area of the test grid image as a central corner point, and extending outward in a spiral direction based on the central corner point to form an involute positioning track;
在本发明具体实施过程中，具体的步骤可以为：基于所述测试网格图像的中心区域的角点确定为中心角点；以所述中心角点作为向外遍历的始点，基于蒙板沿着所述测试网格图像中各所述黑白棋盘格的边缘向外延伸，其中，基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹。In the specific implementation process of the present invention, the specific steps may be: determining the corner point of the central area of the test grid image as the central corner point; using the central corner point as the starting point of outward traversal, extending outward along the edges of each black and white checkerboard in the test grid image based on the mask, wherein the center corner point is extended outward in a spiral direction to form an involute positioning trajectory.
其中，以所述中心角点作为向外遍历的始点，基于蒙板沿着所述测试网格图像中各所述黑白棋盘格的边缘向外延伸，形成以中心角点为中心沿着螺旋方向向外延伸的遍历轨迹，并且将该轨迹定义为渐开线定位轨迹，通过渐开线定位轨迹逐步遍历各角点，并且提高识别黑网格或白网格的边缘的准确率，并且函盖各角点。Among them, taking the central corner point as the starting point of outward traversal, based on the mask, extending outward along the edges of each black and white checkerboard in the test grid image, a traversal trajectory extending outward in a spiral direction with the central corner point as the center is formed, and the trajectory is defined as an involute positioning trajectory, and each corner point is gradually traversed through the involute positioning trajectory, and the accuracy of identifying the edges of the black grid or the white grid is improved, and each corner point is covered.
S14：基于所述渐开线定位轨迹确定其它角点；S14: Determine other corner points based on the involute positioning trajectory;
在本发明具体实施过程中，具体的步骤可以为：基于蒙板沿着渐开线定位轨迹逐步遍历各网格的边缘，并确定对应的角点位置，其中，基于遍历轨迹检测对应位置的周边区域，若周边区域存在多个黑白交替的区域，则确定该位置为角点位置。In the specific implementation process of the present invention, the specific steps may be: based on the mask, gradually traverse the edges of each grid along the involute positioning trajectory, and determine the corresponding corner point position, wherein the surrounding area of the corresponding position is detected based on the traversal trajectory, and if there are multiple alternating black and white areas in the surrounding area, the position is determined to be the corner point position.
其中，基于遍历轨迹检测对应位置的周边区域，若周边区域存在多个黑白交替的区域，则确定该位置为角点位置，保证了角点位置的识别准确率。另外，在要识别角点的理论坐标处，最大程度使要识别的角点在蒙板之内，而相邻角点在蒙板之处，防止误识别到相邻的角点。Among them, the surrounding area of the corresponding position is detected based on the traversal trajectory. If there are multiple black and white alternating areas in the surrounding area, the position is determined to be the corner point position, ensuring the recognition accuracy of the corner point position. In addition, at the theoretical coordinates of the corner point to be identified, the corner point to be identified is made to be within the mask to the greatest extent possible, while the adjacent corner points are outside the mask, to prevent the adjacent corner points from being mistakenly identified.
在本发明具体实施过程中，具体的步骤包括：基于角点位置确定所述其它角点的排布，并且形成参考定位点；基于所述参考定位点更新所述摄像头的定位点，其中，处于当前工作参数的所述摄像头的定位点会被所述参考定位点进行替代，以形成新的定位点；若所述参考定位点满足目标参考点，则确定所述摄像头的校准范围，并进行所述摄像头的校准。In the specific implementation process of the present invention, the specific steps include: determining the arrangement of the other corner points based on the position of the corner point, and forming a reference positioning point; updating the positioning point of the camera based on the reference positioning point, wherein the positioning point of the camera at the current working parameters will be replaced by the reference positioning point to form a new positioning point; if the reference positioning point meets the target reference point, determining the calibration range of the camera, and calibrating the camera.
在本发明实施例中，通过本发明实施例中的方法，获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；基于所述渐开线定位轨迹确定其它角点；根据所述其它角点更新所述摄像头的定位点，并进行所述摄像头的校准，其中，以所述测试网格图像的中心区域的角点为中心角点，并且以所述渐开线定位轨迹逐步向外延伸，以逐步确定其它角点，提高摄像头确定角点的概率，保证摄像头的角点的获取，从而保证摄像头基于中心角点、其它角点共同校准处于当前工作参数的摄像头，提高摄像头的校准的精度和便利性，简化摄像头的校准工序较为复杂。In an embodiment of the present invention, through the method in the embodiment of the present invention, the current working parameters of the camera are obtained, and a test grid image is obtained based on the current working parameters; the test grid image is traversed, and the central area of the test grid image is preliminarily located; the corner point of the central area of the test grid image is used as the central corner point, and based on the central corner point, it is extended outward in a spiral direction to form an involute positioning trajectory; other corner points are determined based on the involute positioning trajectory; the positioning point of the camera is updated according to the other corner points, and the camera is calibrated, wherein the corner point of the central area of the test grid image is used as the central corner point, and the involute positioning trajectory is gradually extended outward to gradually determine other corner points, thereby improving the probability of the camera determining the corner point, ensuring the acquisition of the camera's corner points, thereby ensuring that the camera calibrates the camera at the current working parameters based on the central corner point and other corner points, improving the accuracy and convenience of the camera calibration, and simplifying the camera calibration process.
实施例三Embodiment 3
请参阅图8，一种摄像头的校准装置，所述摄像头的校准装置包括：Please refer to FIG8 , a camera calibration device, the camera calibration device comprising:
获取模块21：用于获取摄像头的当前工作参数，并基于所述当前工作参数获取测试网格图像；Acquisition module 21: used to acquire current working parameters of the camera, and acquire a test grid image based on the current working parameters;
遍历模块22：用于遍历所述测试网格图像，并初步定位所述测试网格图像的中心区域；A traversal module 22 is used to traverse the test grid image and preliminarily locate the central area of the test grid image;
形成模块23：用于以所述测试网格图像的中心区域的角点为中心角点，并基于中心角点以螺旋的方向向外延伸，且形成渐开线定位轨迹；Forming module 23: used for taking the corner point of the central area of the test grid image as the central corner point, and extending outward in a spiral direction based on the central corner point to form an involute positioning track;
确定模块24：用于基于所述渐开线定位轨迹确定其它角点；Determination module 24: used to determine other corner points based on the involute positioning trajectory;
更新模块25：用于根据所述其它角点更新所述摄像头的定位点，并进行所述摄像头的校准。Update module 25: used for updating the positioning points of the camera according to the other corner points and calibrating the camera.
实施例Example
请参阅图9，下面参照图9来描述根据本发明的这种实施方式的电子设备40。图9显示的电子设备40仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。Please refer to Figure 9, and the electronic device 40 according to this embodiment of the present invention is described below with reference to Figure 9. The electronic device 40 shown in Figure 9 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.
如图9所示，电子设备40以通用计算设备的形式表现。电子设备40的组件可以包括但不限于：上述至少一个处理单元41、上述至少一个存储单元42、连接不同系统组件(包括存储单元42和处理单元41)的总线43。As shown in Fig. 9, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).
其中，所述存储单元存储有程序代码，所述程序代码可以被所述处理单元41执行，使得所述处理单元41执行本说明书上述“实施例方法”部分中描述的根据本发明各种示例性实施方式的步骤。The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.
存储单元42可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)421和/或高速缓存存储单元422，还可以进一步包括只读存储单元(ROM)423。The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and/or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .
存储单元42还可以包括具有一组(至少一个)程序模块425的程序/实用工具424，这样的程序模块425包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.
总线43可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
电子设备40也可以与一个或多个外部设备(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备40交互的设备通信，和/或与使得该电子设备40能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口45进行。并且，电子设备40还可以通过网络适配器46与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图9所示，网络适配器46通过总线43与电子设备40的其它模块通信。应当明白，尽管图9中未示出，可以结合电子设备40使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 40, and/or may communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input/output (I/O) interface 45. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and/or public networks, such as the Internet) via a network adapter 46. As shown in FIG. 9 , the network adapter 46 communicates with other modules of the electronic device 40 via a bus 43. It should be understood that, although not shown in FIG. 9 , other hardware and/or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.
通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施方式可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。因此，根据本公开实施方式的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、终端装置、或者网络设备等)执行根据本公开实施方式的方法。Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：只读存储器(ROM，ReadOnly Memory)、随机存取存储器(RAM，Random AccessMemory)、磁盘或光盘等。并且，其存储有计算机程序指令，当所述计算机程序指令被计算机执行时，使计算机执行根据上述的方法。Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.
另外，以上对本发明实施例所提供的摄像头的校准方法及校准装置进行了详细介绍，本文中应采用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。In addition, the camera calibration method and calibration device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.
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